全向轮式分拣装置货物移动轨迹模块化设计  

Modular design of cargo movement routes on sorting device with omnidirectional wheels

作　　者：唐英[1] 张靖 吴官政 TANG Ying;ZHANG Jing;WU Guanzheng(School of Mechanical Engineering,University of Science and Technology Beijing,Beijing 100083,China;Division of Mechanical Planning,Wayzim Intelligent Manufacturing Technology Jiangsu Co.,Ltd.,Wuxi 214108,China)

机构地区：[1]北京科技大学机械工程学院,北京100083 [2]中科微至智能制造科技江苏股份有限公司机械规划部,江苏无锡214108

出　　处：《合肥工业大学学报（自然科学版）》2024年第9期1153-1158,1175,共7页Journal of Hefei University of Technology：Natural Science

基　　金：国家重点研发计划资助项目(2020YFB1712902)。

摘　　要：全向轮式分拣装置通过对分拣平台上均布的各个全向轮进行独立及有选择性的速度控制,可实现以不同速度沿不同轨迹输送货物。文章提出一种全向轮式分拣装置货物移动轨迹的模块化设计方法,实现货物在分拣平台上沿任意指定路线灵活输送。将货物在分拣平台上的任意轨迹移动分解为直线段与圆弧段2种轨迹的不同组合;分别对直线段和圆弧段进行轨迹移动模块化设计,输入各段起点和终点的位置及速度等初始化参数,模块自动完成货物移动质心轨迹生成、货物移动扫掠面计算、扫掠面界内全向轮判断以及界内全向轮速度计算;最后,通过直线轨迹移动段与圆弧轨迹移动段的不同组合搭建货物分拣与堆码轨迹,对全向轮式分拣装置货物移动轨迹模块化设计方法进行试验测试。结果表明,文章提出的模块化设计方法大大降低了全向轮式分拣装置货物输送控制设计的难度。The sorting device with omnidirectional wheels realizes the transportation of goods along different routes at different speeds by independently and selectively controlling the speed of each omnidirectional wheel evenly distributed on the sorting platform.This paper presents a modular design method for the movement routes of goods on the sorting device with omnidirectional wheels,so as to realize the flexible transportation of goods along any designated route on the sorting platform.Any track movement of goods on the sorting platform is decomposed into two different combinations of straight-line segment and arc segment.The modular design of track movement is carried out for the straight-line segment and arc segment respectively,and the initialization parameters such as the position and speed of the starting point and end point of each segment are input.The module automatically completes the generation of cargo moving centroid track,the calculation of cargo moving sweeping surface,the judgment of omnidirectional wheel within the boundary of sweeping surface and the calculation of omnidirectional wheel speed within the boundary.Through the different combination of linear track moving section and circular track moving section,the cargo sorting and stacking track is built.The test shows that the modular design method proposed in this paper greatly reduces the difficulty of cargo conveying control design of sorting device with omnidirectional wheels.

关 键 词：全向轮分拣装置 轨迹控制 模块化设计 分拣 堆码 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置] TH691.5[自动化与计算机技术—控制科学与工程]